Installation manual

Chapter 6 Programming
6-70
６．１０ Teach/Playback Motion
Playback motion is performed using teach data acquired in various control conditions.
To perform playback motion it usually needs the following four step procedures.
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1st….Teach data creation
Acquires teach points and creates a set.
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2nd….Current teach point shifting
The moment when teach point is acquired, it instantly becomes the current point.
For this reason, the teach point where intended to start the motion, has to be
shifted to the current teach point.
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3rd….Shiftin g to the current point
Actuates arm to the position (angle) indicated at the current point.
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4th….Playback starts
Starts the playback motion.